[1247] | 1 | // settings for pmsm_estim.cpp |
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| 2 | |
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| 3 | experiment={ |
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| 4 | ndat = 100000; |
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| 5 | }; |
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| 6 | |
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| 7 | system= { |
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| 8 | class= "pmsmDS"; |
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| 9 | params = "pmsm107@../cfg/zcu.cfg"; |
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| 10 | tstep = 1; // steps for profile in [s] |
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[1294] | 11 | profileW = [0, 0, -30, -200, -90, -60, -30, 0, 30, 200]; |
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| 12 | // profileW = [30, 30, 30, 60, 90, 60, 30, 0, -30, -60, -30]; |
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| 13 | // profileW = [0,0,1, 1, 5, 2, 2, 3, 0, 0, -3, -3, -1, -1, -4, 0, 0]; |
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[1247] | 14 | // profileM = [0, 30, 0, 0, 30, 0, 0, 0, 0, 0, 10, 0, 0]; |
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| 15 | profileM = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]; |
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| 16 | }; |
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| 17 | |
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[1294] | 18 | estimators = ( |
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[1315] | 19 | {class="EKF_UD"; |
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[1294] | 20 | IM = {class="IMpmsmStat"; |
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[1247] | 21 | params = "pmsm107@../cfg/zcu.cfg"; |
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| 22 | }; |
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[1294] | 23 | OM = {class="OMpmsm";}; |
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| 24 | // dQ=[0.01, 0.01, 0.0005, 0.001]; |
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| 25 | dQ=[289., 289., 12630., 0.009]; // 0.01*170^2, 0.0005*5026^2, 0.001*3.14^2 |
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| 26 | dR=[1445, 1445]; |
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| 27 | // dR=[0.05., 0.05.]; |
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| 28 | dP0=[14450., 144500., 157000000., 10.]; |
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[1247] | 29 | //connect |
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| 30 | yrv = {class="RV"; names=("o_ia","o_ib");}; // observed u |
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[1264] | 31 | rvc = {class="RV"; names=("o_ua","o_ub");}; // observed u |
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[1247] | 32 | rv = {class="RV"; names=("ia","ib","om","th");}; |
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| 33 | log_level="logmean,logevidence,logU,logG,logD"; |
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| 34 | name = "Est0"; |
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| 35 | }, |
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| 36 | {class="EKFfixedUD"; |
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| 37 | //connect |
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| 38 | yrv = {class="RV"; names=("o_ia","o_ib");}; // observed u |
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| 39 | rvc = {class="RV"; names=("o_ua","o_ub");}; // observed u |
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| 40 | rv = {class="RV"; names=("fix_ia","fix_ib","fix_om","fix_th","fix_M");}; |
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| 41 | log_level="logmean,logevidence,logbounds,logU,logG,logD"; |
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| 42 | name = "Est1"; |
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| 43 | } |
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| 44 | ); |
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| 45 | estimator0=( |
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| 46 | {class="EKF_UDfix"; |
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| 47 | IM = {class="IMpmsmMz"; |
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| 48 | params = "pmsm107@../cfg/zcu.cfg"; |
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| 49 | }; |
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| 50 | OM = {class="OMpmsmRO";}; |
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| 51 | //dQ=[0.0, 0.0, 0.0000, 1e-10, 0.0]; |
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| 52 | dQ=[0.05, 0.05, 0.001, 0.000001, 0.1]; ///////// <====== OK |
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| 53 | // dQ=[0.017, 0.017, 0.0004, 1e-5, 1e-1]; |
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| 54 | dR=[0.025, 0.025]; |
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| 55 | dP0=[0.1, 0.1, 0.1, 0.1, 0.1]; |
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| 56 | //connect |
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| 57 | yrv = {class="RV"; names=("o_ia","o_ib");}; // observed u |
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| 58 | rvc = {class="RV"; names=("t_ua","t_ub");}; // observed u |
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| 59 | //drv = {class="RV"; names=("o_ia","o_ib","t_ua","t_ub");}; // true u |
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| 60 | rv = {class="RV"; names=("UKFMz_ia","UKFMz_ib","UKFMz_om","UKFMz_th","UKFMz_M");}; |
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| 61 | log_level="logmean,logevidence,logbounds,logU,logG,logD"; |
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| 62 | } |
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| 63 | ); |
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| 64 | |
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| 65 | logger= { |
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| 66 | class="dirfilelog"; |
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| 67 | maxlen = 100; |
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| 68 | dirname = "exp/fix"; |
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| 69 | }; |
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